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Effect of Computational Delay on the Performance of a Hybrid Adaptive Cruise Control System
ISSN: 0148-7191, e-ISSN: 2688-3627
Published April 03, 2006 by SAE International in United States
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This paper investigates the effect of real-time control system computational delay on the performance of a hybrid adaptive cruise control (ACC) system during braking/coasting scenarios. A hierarchical hybrid ACC system with a finite state machine (FSM) at the high-rank and a nonlinear sliding mode controller (SMC) at the low-rank is designed based on a vehicle dynamics model with a brake-by-wire platform. From simulations, parametric studies are used to evaluate the effect of the bounded random computational delay on the system performance in terms of tracking errors and control effort. The effect of the computational delay location within the control system hierarchy is also evaluated. The system performance generally becomes worse as the upper boundary of the computational delay increases while the effect of the computational delay located at the high-rank controller is more pronounced. In this paper, these results are also contrasted against those found by applying a computational delay compensation technique in the high-rank controller.
CitationWang, J. and Longoria, R., "Effect of Computational Delay on the Performance of a Hybrid Adaptive Cruise Control System," SAE Technical Paper 2006-01-0800, 2006, https://doi.org/10.4271/2006-01-0800.
SAE 2006 Transactions Journal of Passenger Cars: Electronic and Electrical Systems
Number: V115-7 ; Published: 2007-03-30
Number: V115-7 ; Published: 2007-03-30
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